Robotics Library  0.7.0
Namespaces | Enumerations | Functions | Variables
Unit.h File Reference
#include <cmath>
#include "Real.h"
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Namespaces

 rl
 Robotics Library.
 
 rl::math
 Common mathematical functions.
 

Enumerations

enum  rl::math::Unit {
  rl::math::UNIT_NONE, rl::math::UNIT_METER, rl::math::UNIT_KILOGRAM, rl::math::UNIT_SECOND,
  rl::math::UNIT_AMPERE, rl::math::UNIT_KELVIN, rl::math::UNIT_MOLE, rl::math::UNIT_CANDELA,
  rl::math::UNIT_RADIAN, rl::math::UNIT_HERTZ, rl::math::UNIT_NEWTON, rl::math::UNIT_VOLT,
  rl::math::UNIT_CELSIUS, rl::math::UNIT_METER_PER_SECOND, rl::math::UNIT_METER_PER_SECOND_SQUARED, rl::math::UNIT_RADIAN_PER_SECOND,
  rl::math::UNIT_RADIAN_PER_SECOND_SQUARED, rl::math::UNIT_NEWTON_SECOND, rl::math::UNIT_NEWTON_METER_SECOND, rl::math::UNIT_NEWTON_METER
}
 

Functions

void rl::math::cartesianToPolar (const Real &x, const Real &y, Real &r, Real &theta)
 
void rl::math::cartesianToSpherical (const Real &x, const Real &y, const Real &z, Real &rho, Real &psi, Real &theta)
 
void rl::math::polarToCartesian (const Real &r, const Real &theta, Real &x, Real &y)
 
void rl::math::sphericalToCartesian (const Real &rho, const Real &psi, const Real &theta, Real &x, Real &y, Real &z)
 

Variables

static const Real rl::math::DEG2RAD = static_cast<Real>(M_PI) / 180.0f
 
static const Real rl::math::GIGA2UNIT = 1.0e+9f
 
static const Real rl::math::GRAVITY = 9.80665f
 [m · s-2] More...
 
static const Real rl::math::KILO2UNIT = 1.0e+3f
 
static const Real rl::math::MEGA2UNIT = 1.0e+6f
 
static const Real rl::math::MICRO2UNIT = 1.0e-6f
 
static const Real rl::math::MILLI2UNIT = 1.0e-3f
 
static const Real rl::math::NANO2UNIT = 1.0e-9f
 
static const Real rl::math::RAD2DEG = 180.0f / static_cast<Real>(M_PI)
 
static const Real rl::math::UNIT2GIGA = 1.0e-9f
 
static const Real rl::math::UNIT2KILO = 1.0e-3f
 
static const Real rl::math::UNIT2MEGA = 1.0e-6f
 
static const Real rl::math::UNIT2MICRO = 1.0e+6f
 
static const Real rl::math::UNIT2MILLI = 1.0e+3f
 
static const Real rl::math::UNIT2NANO = 1.0e+9f